Dexter distance sensor を使うと，エラーが発生する。
エラーは，発生させるほどひどくなる。
このエラーがサーボポート関連によるものでないことを，確かめておく。
サーボポートは使わず，サーボのケーブルを GPIOピンに接続する。
(venv) $ vi obstacle_stop.py
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<![CDATA[#!/usr/bin/env python
from time import sleep
###### motor #############################
from easygopigo3 import EasyGoPiGo3
egpg = EasyGoPiGo3()
# Moving
# go forward 1sec
def go_fwd():
egpg.set_speed(100)
egpg.forward()
sleep(1)
egpg.stop()
###### distance sensor #############################
from di_sensors.easy_distance_sensor import EasyDistanceSensor
# Distance Sensor
dist_sensor = EasyDistanceSensor()
#Distance from obstacle where the GoPiGo should stop : 30cm
distance_to_stop = 30
###### servo #############################
import RPi.GPIO as GPIO
# Set the GPIO pins by physical pin number
GPIO.setmode(GPIO.BOARD)
Servo_pin = 16
GPIO.setup(Servo_pin, GPIO.OUT)
# PWM (Pulse Width Modulation) の設定
# SG90 の周波数は50[Hz]
Servo = GPIO.PWM(Servo_pin, 50)
# 指定角度 (単位 : 度) にサーボを定位
def servo_angle(angle):
# 角度に対応するデューティ比 (%) を求める
duty = 2.5 + (12.0 - 2.5) * (angle + 90) / 180
# デューティ比を変更
Servo.ChangeDutyCycle(duty)
#0.3秒間待つ
sleep(0.3)
###### exit process #############################
import sys
# Exit
def destroy():
#サーボモータをストップ
Servo.ChangeDutyCycle(7.25)
sleep(0.3)
Servo.stop()
#GPIOをクリーンアップ
GPIO.cleanup()
egpg.reset_all()
sys.exit()
#### The Program starts from here ###############
print("Press ENTER to start")
#Wait for input to start
input()
# デューティ比 7.25% (角度0) でサーボをスタート (固定)
Servo.start(2.5)
sleep(0.3)
#Start moving
go_fwd()
try:
while True:
#Find the distance of the object in front
dist = dist_sensor.read()
sleep(1)
print("Dist:",dist,'cm')
#If the object is closer than distance_to_stop, stop the GoPiGo
if dist < distance_to_stop:
print("obstacle!")
egpg.stop()
destroy()
sys.exit()
else:
go_fwd()
# except the program gets interrupted by Ctrl+C on the keyboard.
except KeyboardInterrupt:
egpg.stop()
destroy()
]]>
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(venv) $ chmod +x obstacle_stop.py
(venv) $ ./obstacle_stop.py
<![CDATA[Press ENTER to start
Dist: 300 cm
[Errno 5] Input/output error
[Errno 5] Input/output error
[Errno 5] Input/output error
Dist: 0 cm
obstacle!
(venv) $ ./obstacle_stop.py
Traceback (most recent call last):
File "./obstacle_stop.py", line 26, in <module>
dist_sensor = EasyDistanceSensor()
File "/usr/local/lib/python3.7/dist-packages/
DI_Sensors-1.0.0-py3.7.egg/di_sensors/easy_distance_sensor.py", line 56, in __init__
File "/usr/local/lib/python3.7/dist-packages/
DI_Sensors-1.0.0-py3.7.egg/di_sensors/distance_sensor.py", line 28, in __init__
File "/usr/local/lib/python3.7/dist-packages/
DI_Sensors-1.0.0-py3.7.egg/di_sensors/VL53L0X.py", line 126, in __init__
File "/usr/local/lib/python3.7/dist-packages/
Dexter_AutoDetection_and_I2C_Mutex-0.0.0-py3.7.egg/di_i2c.py", line 220, in write_reg_8
File "/usr/local/lib/python3.7/dist-packages/
Dexter_AutoDetection_and_I2C_Mutex-0.0.0-py3.7.egg/di_i2c.py", line 185, in transfer
File "/usr/local/lib/python3.7/dist-packages/
Dexter_AutoDetection_and_I2C_Mutex-0.0.0-py3.7.egg/di_i2c.py", line 469, in transfer
OSError: [Errno 5] Input/output error
]]>
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